Omron SYSMAC CJ Series, Operation Manual

Page: 324 / 371

How-to’s Section 5-1
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correction, an error of 0.1 mm per bag is accumulated. With a small number of
bags the difference is not visible, but after 500 bags the error is 50 mm, which
is a 25% of the bag length.
When working with registration marks, the motion controller executes an
incremental movement to a certain position. If during the positioning the
registration mark is detected, the target position is changed on the fly in order
to finish the movement at a defined position after the registration mark.
Therefore, the same distance in respect to the registration mark is always
guaranteed.
The motion profile and its modification due to the registration mark are shown
in .
The BASIC program for this example is:
DEFPOS(0)
REGIST(3) 'Trigger the mark registration
MOVE(bag_length) 'Move to the theoretical distance
WA(1)
WAIT UNTIL MARK OR MTYPE=0
IF MARK THEN
end_position=distance_after_mark
MOVEMODIFY(end_position)
'Correct the distance according to the mark
ENDIF
D
t
t
2- The new target position is recalculated:
TARGET POS=CAPTURED POS+"D"
1- The rising edge of
the registration captures
the feeder position The area below the graph
(distance) is "D"
Feeder
speed